more improvements for gps handler
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e19c03f0d7
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@ -172,20 +172,10 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
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return false;
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}
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oneShotSwitches.gpsReadFailedSwitch = true;
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// did not event get mode, nothing to see.
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if (MODE_SET != (MODE_SET & gps.set)) {
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if (mode != MODE_OFF) {
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if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
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sif::warning
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<< "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
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<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
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triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
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oneShotSwitches.cantGetFixSwitch = false;
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}
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// Mode is on, so do next read immediately
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return true;
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}
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// GPS device is off anyway, so do other handling
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ReturnValue_t result = handleGpsReadData();
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if (result == returnvalue::OK) {
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return true;
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} else {
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return false;
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}
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noModeSetCntr = 0;
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@ -197,11 +187,26 @@ bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
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"SHM read not implemented"
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<< std::endl;
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}
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handleGpsReadData();
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return true;
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}
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ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
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bool modeIsSet = true;
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if (MODE_SET != (MODE_SET & gps.set)) {
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if (mode != MODE_OFF) {
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if (maxTimeToReachFix.hasTimedOut() and oneShotSwitches.cantGetFixSwitch) {
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sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be set in allowed "
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<< maxTimeToReachFix.timeout / 1000 << " seconds" << std::endl;
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triggerEvent(GpsHyperion::CANT_GET_FIX, maxTimeToReachFix.timeout);
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oneShotSwitches.cantGetFixSwitch = false;
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}
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modeIsSet = false;
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} else {
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// GPS device is off anyway, so do other handling
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return returnvalue::FAILED;
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}
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}
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PoolReadGuard pg(&gpsSet);
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if (pg.getReadResult() != returnvalue::OK) {
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#if FSFW_VERBOSE_LEVEL >= 1
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@ -211,66 +216,80 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
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}
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bool validFix = false;
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// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
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if (gps.fix.mode == 2 or gps.fix.mode == 3) {
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validFix = true;
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}
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if (gpsSet.fixMode.value != gps.fix.mode) {
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triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
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}
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gpsSet.fixMode.value = gps.fix.mode;
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if (gps.fix.mode == 0 or gps.fix.mode == 1) {
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if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
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// We are supposed to be on and functioning, but no fix was found
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if (mode == MODE_ON or mode == MODE_NORMAL) {
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mode = MODE_OFF;
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}
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modeCommanded = false;
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if (modeIsSet) {
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// 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
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if (gps.fix.mode == 2 or gps.fix.mode == 3) {
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validFix = true;
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}
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if (gpsSet.fixMode.value != gps.fix.mode) {
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triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, gps.fix.mode);
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}
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gpsSet.fixMode.value = gps.fix.mode;
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if (gps.fix.mode == 0 or gps.fix.mode == 1) {
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if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
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// We are supposed to be on and functioning, but no fix was found
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if (mode == MODE_ON or mode == MODE_NORMAL) {
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mode = MODE_OFF;
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}
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modeCommanded = false;
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}
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}
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gpsSet.setValidity(false, true);
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} else if (gps.satellites_used > 0 && validFix && mode != MODE_OFF) {
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gpsSet.setValidity(true, true);
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}
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gpsSet.fixMode.setValid(modeIsSet);
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gpsSet.satInUse.value = gps.satellites_used;
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gpsSet.satInView.value = gps.satellites_visible;
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bool satInfoValid = false;
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if (SATELLITE_SET == (SATELLITE_SET & gps.set)) {
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satInfoValid = true;
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gpsSet.satInUse.value = gps.satellites_used;
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gpsSet.satInView.value = gps.satellites_visible;
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}
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gpsSet.satInUse.setValid(satInfoValid);
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gpsSet.satInView.setValid(satInfoValid);
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bool latValid = false;
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if (std::isfinite(gps.fix.latitude)) {
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// Negative latitude -> South direction
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gpsSet.latitude.value = gps.fix.latitude;
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if (gps.fix.mode >= 2) {
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latValid = true;
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bool longValid = false;
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if (LATLON_SET == (LATLON_SET & gps.set)) {
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if (std::isfinite(gps.fix.latitude)) {
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// Negative latitude -> South direction
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gpsSet.latitude.value = gps.fix.latitude;
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// As specified in gps.h: Only valid if mode >= 2
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if (gps.fix.mode >= 2) {
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latValid = true;
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}
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}
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if (std::isfinite(gps.fix.longitude)) {
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// Negative longitude -> West direction
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gpsSet.longitude.value = gps.fix.longitude;
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// As specified in gps.h: Only valid if mode >= 2
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if (gps.fix.mode >= 2) {
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longValid = true;
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}
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}
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}
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gpsSet.latitude.setValid(latValid);
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bool longValid = false;
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if (std::isfinite(gps.fix.longitude)) {
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// Negative longitude -> West direction
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gpsSet.longitude.value = gps.fix.longitude;
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if (gps.fix.mode >= 2) {
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longValid = true;
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}
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}
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gpsSet.latitude.setValid(longValid);
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gpsSet.longitude.setValid(longValid);
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bool altitudeValid = false;
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if (std::isfinite(gps.fix.altitude)) {
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if (ALTITUDE_SET == (ALTITUDE_SET & gps.set) && std::isfinite(gps.fix.altitude)) {
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gpsSet.altitude.value = gps.fix.altitude;
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// As specified in gps.h: Only valid if mode == 3
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if (gps.fix.mode == 3) {
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altitudeValid = true;
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}
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}
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gpsSet.altitude.setValid(altitudeValid);
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if (std::isfinite(gps.fix.speed)) {
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bool speedValid = false;
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if (SPEED_SET == (SPEED_SET & gps.set) && std::isfinite(gps.fix.speed)) {
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gpsSet.speed.value = gps.fix.speed;
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} else {
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gpsSet.speed.setValid(false);
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speedValid = true;
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}
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gpsSet.speed.setValid(speedValid);
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bool timeValid = false;
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if (TIME_SET == (TIME_SET & gps.set)) {
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timeValid = true;
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timeval time = {};
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#if LIBGPS_VERSION_MINOR <= 17
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gpsSet.unixSeconds.value = std::floor(gps.fix.time);
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@ -294,15 +313,14 @@ ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
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gpsSet.hours = timeOfDay.hour;
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gpsSet.minutes = timeOfDay.minute;
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gpsSet.seconds = timeOfDay.second;
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} else {
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gpsSet.unixSeconds.setValid(false);
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gpsSet.year.setValid(false);
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gpsSet.month.setValid(false);
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gpsSet.day.setValid(false);
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gpsSet.hours.setValid(false);
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gpsSet.minutes.setValid(false);
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gpsSet.seconds.setValid(false);
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}
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gpsSet.unixSeconds.setValid(timeValid);
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gpsSet.year.setValid(timeValid);
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gpsSet.month.setValid(timeValid);
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gpsSet.day.setValid(timeValid);
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gpsSet.hours.setValid(timeValid);
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gpsSet.minutes.setValid(timeValid);
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gpsSet.seconds.setValid(timeValid);
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if (debugHyperionGps) {
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sif::info << "-- Hyperion GPS Data --" << std::endl;
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@ -17,8 +17,8 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
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* @param maxNumberOfSequences
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* @param maxNumberOfTables
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* @param transmitterTimeout Maximum time the transmitter of the syrlinks
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* will be
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* enabled
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* will
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* be enabled
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*/
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ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
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uint32_t transmitterTimeout);
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